camera_intrinsics.hpp

#ifndef __fovis_calibration_hpp__
#define __fovis_calibration_hpp__

#include <Eigen/Geometry>

namespace fovis
{

struct CameraIntrinsicsParameters
{
  CameraIntrinsicsParameters() :
    width(0), height(0), fx(0), fy(0), cx(0), cy(0),
    k1(0), k2(0), k3(0), p1(0), p2(0)
  {}

  Eigen::Matrix<double, 3, 4> toProjectionMatrix() const
  {
    Eigen::Matrix<double, 3, 4> result;
    result <<
      fx,  0, cx, 0,
       0, fy, cy, 0,
       0,  0,  1, 0;
    return result;
  }

  int width;

  int height;

  double fx;

  double fy;

  double cx;

  double cy;

  double k1;

  double k2;

  double k3;

  double p1;

  double p2;
};

}

#endif